ompl_ros_joint_planner.h
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00034 
00037 #ifndef OMPL_ROS_JOINT_PLANNER_H_
00038 #define OMPL_ROS_JOINT_PLANNER_H_
00039 
00040 // OMPL ROS Interface
00041 #include <ompl_ros_interface/state_validity_checkers/ompl_ros_joint_state_validity_checker.h>
00042 #include <ompl_ros_interface/ompl_ros_planning_group.h>
00043 #include <ompl_ros_interface/ik/ompl_ros_ik_sampler.h>
00044 
00045 // OMPL
00046 #include <ompl/base/goals/GoalLazySamples.h>
00047 
00048 namespace ompl_ros_interface
00049 {
00054   class OmplRosJointPlanner: public OmplRosPlanningGroup
00055   {
00056   public:
00057     
00058     OmplRosJointPlanner():ik_sampler_available_(false){}
00059     ~OmplRosJointPlanner(){}
00060 
00061   protected:
00062 
00066     virtual bool isRequestValid(arm_navigation_msgs::GetMotionPlan::Request &request,
00067                                 arm_navigation_msgs::GetMotionPlan::Response &response);
00068 
00072     virtual bool setStart(arm_navigation_msgs::GetMotionPlan::Request &request,
00073                           arm_navigation_msgs::GetMotionPlan::Response &response);
00074 
00078     virtual bool setGoal(arm_navigation_msgs::GetMotionPlan::Request &request,
00079                          arm_navigation_msgs::GetMotionPlan::Response &response);
00080 
00084     virtual bool initializeStateValidityChecker(ompl_ros_interface::OmplRosStateValidityCheckerPtr &state_validity_checker);
00085 
00089     virtual bool initializePlanningStateSpace(ompl::base::StateSpacePtr &state_space);
00090 
00094     virtual arm_navigation_msgs::RobotTrajectory getSolutionPath();
00095 
00096   private:
00097 
00098     //Mappings in between ompl state and robot state, these are used for efficiency
00099     arm_navigation_msgs::RobotState robot_state_; //message representation of the state that this class is planning for
00100     ompl_ros_interface::OmplStateToRobotStateMapping ompl_state_to_robot_state_mapping_;
00101     ompl_ros_interface::RobotStateToOmplStateMapping robot_state_to_ompl_state_mapping_;
00102 
00103     //Mappings between ompl state and kinematic state, these are used for efficiency
00104     ompl_ros_interface::OmplStateToKinematicStateMapping ompl_state_to_kinematic_state_mapping_;
00105     ompl_ros_interface::KinematicStateToOmplStateMapping kinematic_state_to_ompl_state_mapping_;
00106 
00107     bool setPoseGoal(arm_navigation_msgs::GetMotionPlan::Request &request,
00108                      arm_navigation_msgs::GetMotionPlan::Response &response);
00109     
00110     bool setJointGoal(arm_navigation_msgs::GetMotionPlan::Request &request,
00111                       arm_navigation_msgs::GetMotionPlan::Response &response);
00112     
00113     std::string kinematics_solver_name_;
00114 
00115     std::string end_effector_name_;
00116 
00117     ompl_ros_interface::OmplRosIKSampler ik_sampler_;
00118 
00119     bool ik_sampler_available_;
00120 
00121   };
00122 }
00123 #endif //OMPL_ROS_JOINT_PLANNER_H_


ompl_ros_interface
Author(s): Sachin Chitta
autogenerated on Mon Dec 2 2013 12:38:54